If you assume the filter is good, then pre-rolled is probably best, since there will be less chance of smoke getting around the filter.
However, people tend to inhale deeper when they use a filter, and they smoke down until they are starting to heat the filter, essentially starting to smoke the filter, too. This is worse than the tobacco, so filterless may be better.
In the end, the difference is probably minimal, so smoke what you like.
BTW, if you want cheaper life insurance rates, smoke cigarillos - there are some insurance companies that only charge tobacco rates for cigarettes, and cigarillos are considered cigars.